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<div class="title">Initializer.h</div>  </div>
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<a href="_initializer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#ifndef INITIALIZER_H</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#define INITIALIZER_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include&lt;opencv2/opencv.hpp&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_frame_8h.html">Frame.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;{</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">// THIS IS THE INITIALIZER FOR MONOCULAR SLAM. NOT USED IN THE STEREO OR RGBD CASE.</span></div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html">   36</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html">Initializer</a></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;{</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ad0bf21297bc6271e7d014ce41d6ff7d4">   38</a></span>&#160;    <span class="keyword">typedef</span> pair&lt;int,int&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ad0bf21297bc6271e7d014ce41d6ff7d4">Match</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="comment">// Fix the reference frame</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ac492345a970665cd8a1b1d8cf41d44af">Initializer</a>(<span class="keyword">const</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;ReferenceFrame, <span class="keywordtype">float</span> sigma = 1.0, <span class="keywordtype">int</span> iterations = 200);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">// Computes in parallel a fundamental matrix and a homography</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">// Selects a model and tries to recover the motion and the structure from motion</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a40d41840e2bdb7199ab024871d028c2c">Initialize</a>(<span class="keyword">const</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;CurrentFrame, <span class="keyword">const</span> vector&lt;int&gt; &amp;vMatches12,</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                    cv::Mat &amp;R21, cv::Mat &amp;t21, vector&lt;cv::Point3f&gt; &amp;vP3D, vector&lt;bool&gt; &amp;vbTriangulated);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a5b0465b2affed7453d30dd85672e9093">FindHomography</a>(vector&lt;bool&gt; &amp;vbMatchesInliers, <span class="keywordtype">float</span> &amp;score, cv::Mat &amp;H21);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a387c406706472859415c0e7a3594ea04">FindFundamental</a>(vector&lt;bool&gt; &amp;vbInliers, <span class="keywordtype">float</span> &amp;score, cv::Mat &amp;F21);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a16d5aa375ed03336cc0dc981861b15da">ComputeH21</a>(<span class="keyword">const</span> vector&lt;cv::Point2f&gt; &amp;vP1, <span class="keyword">const</span> vector&lt;cv::Point2f&gt; &amp;vP2);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#aaca077af095ae1de08ebb473af670d1d">ComputeF21</a>(<span class="keyword">const</span> vector&lt;cv::Point2f&gt; &amp;vP1, <span class="keyword">const</span> vector&lt;cv::Point2f&gt; &amp;vP2);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ac2ac8374ca2a993b8cddc88703ffbe9a">CheckHomography</a>(<span class="keyword">const</span> cv::Mat &amp;H21, <span class="keyword">const</span> cv::Mat &amp;H12, vector&lt;bool&gt; &amp;vbMatchesInliers, <span class="keywordtype">float</span> sigma);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a1c8b74679a5cb1af16c07c8a00c8e8c0">CheckFundamental</a>(<span class="keyword">const</span> cv::Mat &amp;F21, vector&lt;bool&gt; &amp;vbMatchesInliers, <span class="keywordtype">float</span> sigma);</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a60796f88f1b3e981ad925a8b566f6315">ReconstructF</a>(vector&lt;bool&gt; &amp;vbMatchesInliers, cv::Mat &amp;F21, cv::Mat &amp;K,</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                      cv::Mat &amp;R21, cv::Mat &amp;t21, vector&lt;cv::Point3f&gt; &amp;vP3D, vector&lt;bool&gt; &amp;vbTriangulated, <span class="keywordtype">float</span> minParallax, <span class="keywordtype">int</span> minTriangulated);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#addc1c05d3b7a5ae35805f69b50f368ea">ReconstructH</a>(vector&lt;bool&gt; &amp;vbMatchesInliers, cv::Mat &amp;H21, cv::Mat &amp;K,</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                      cv::Mat &amp;R21, cv::Mat &amp;t21, vector&lt;cv::Point3f&gt; &amp;vP3D, vector&lt;bool&gt; &amp;vbTriangulated, <span class="keywordtype">float</span> minParallax, <span class="keywordtype">int</span> minTriangulated);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a3bdf78e0f16be44b5ab312aac5cac5af">Triangulate</a>(<span class="keyword">const</span> cv::KeyPoint &amp;kp1, <span class="keyword">const</span> cv::KeyPoint &amp;kp2, <span class="keyword">const</span> cv::Mat &amp;P1, <span class="keyword">const</span> cv::Mat &amp;P2, cv::Mat &amp;x3D);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a44ce7aa73741d900d2becc0d8f14c1af">Normalize</a>(<span class="keyword">const</span> vector&lt;cv::KeyPoint&gt; &amp;vKeys, vector&lt;cv::Point2f&gt; &amp;vNormalizedPoints, cv::Mat &amp;T);</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a72e79f6486468cde9abd87b873d840e7">CheckRT</a>(<span class="keyword">const</span> cv::Mat &amp;R, <span class="keyword">const</span> cv::Mat &amp;t, <span class="keyword">const</span> vector&lt;cv::KeyPoint&gt; &amp;vKeys1, <span class="keyword">const</span> vector&lt;cv::KeyPoint&gt; &amp;vKeys2,</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                       <span class="keyword">const</span> vector&lt;Match&gt; &amp;vMatches12, vector&lt;bool&gt; &amp;vbInliers,</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                       <span class="keyword">const</span> cv::Mat &amp;K, vector&lt;cv::Point3f&gt; &amp;vP3D, <span class="keywordtype">float</span> th2, vector&lt;bool&gt; &amp;vbGood, <span class="keywordtype">float</span> &amp;parallax);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a78e9e1a14ee76f6cab0f734fa95793af">DecomposeE</a>(<span class="keyword">const</span> cv::Mat &amp;E, cv::Mat &amp;R1, cv::Mat &amp;R2, cv::Mat &amp;t);</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="comment">// Keypoints from Reference Frame (Frame 1)</span></div><div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#aa4a8bce28d125446b4607f12041c7c13">  253</a></span>&#160;    vector&lt;cv::KeyPoint&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#aa4a8bce28d125446b4607f12041c7c13">mvKeys1</a>;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="comment">// Keypoints from Current Frame (Frame 2)</span></div><div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a034e9d495b47667f3e0bf0bc3190ff05">  257</a></span>&#160;    vector&lt;cv::KeyPoint&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a034e9d495b47667f3e0bf0bc3190ff05">mvKeys2</a>;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="comment">// Current Matches from Reference to Current</span></div><div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ac4ef04be7036e4629a8b3fa05c7327f5">  261</a></span>&#160;    vector&lt;Match&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ac4ef04be7036e4629a8b3fa05c7327f5">mvMatches12</a>;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div><div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a3a90762e82702f06f6999672ebaa4cb8">  264</a></span>&#160;    vector&lt;bool&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a3a90762e82702f06f6999672ebaa4cb8">mvbMatched1</a>;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="comment">// Calibration</span></div><div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a557fe4d78becc1dda7a26c71d2254336">  268</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a557fe4d78becc1dda7a26c71d2254336">mK</a>;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="comment">// Standard Deviation and Variance</span></div><div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a7af4e0e177bb75879dac174b758ce7d4">  272</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ad588868e84cb1b7e256928dd0d50baee">mSigma</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a7af4e0e177bb75879dac174b758ce7d4">mSigma2</a>;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="comment">// Ransac max iterations</span></div><div class="line"><a name="l00276"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a8d9647dedc212bd1fe05084ec7875a05">  276</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a8d9647dedc212bd1fe05084ec7875a05">mMaxIterations</a>;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="comment">// Ransac sets</span></div><div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a572144f600b28828d4772b0470206afe">  280</a></span>&#160;    vector&lt;vector&lt;size_t&gt; &gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a572144f600b28828d4772b0470206afe">mvSets</a>;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;};</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="preprocessor">#endif // INITIALIZER_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_aa4a8bce28d125446b4607f12041c7c13"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#aa4a8bce28d125446b4607f12041c7c13">ORB_SLAM2::Initializer::mvKeys1</a></div><div class="ttdeci">vector&lt; cv::KeyPoint &gt; mvKeys1</div><div class="ttdoc">Puntos singulares del cuadro 1. </div><div class="ttdef"><b>Definition:</b> Initializer.h:253</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html">ORB_SLAM2::Frame</a></div><div class="ttdoc">Frame representa un cuadro, una imagen, con los puntos singulares detectados. </div><div class="ttdef"><b>Definition:</b> Frame.h:59</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_aaca077af095ae1de08ebb473af670d1d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#aaca077af095ae1de08ebb473af670d1d">ORB_SLAM2::Initializer::ComputeF21</a></div><div class="ttdeci">cv::Mat ComputeF21(const vector&lt; cv::Point2f &gt; &amp;vP1, const vector&lt; cv::Point2f &gt; &amp;vP2)</div><div class="ttdoc">Computa la matriz fundamental para una dada correspondencia de puntos normalizados en dos imágenes...</div><div class="ttdef"><b>Definition:</b> Initializer.cc:268</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_ac2ac8374ca2a993b8cddc88703ffbe9a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ac2ac8374ca2a993b8cddc88703ffbe9a">ORB_SLAM2::Initializer::CheckHomography</a></div><div class="ttdeci">float CheckHomography(const cv::Mat &amp;H21, const cv::Mat &amp;H12, vector&lt; bool &gt; &amp;vbMatchesInliers, float sigma)</div><div class="ttdoc">Evalúa la calidad de la homografía, haciendo una verificación epipolar. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:305</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a034e9d495b47667f3e0bf0bc3190ff05"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a034e9d495b47667f3e0bf0bc3190ff05">ORB_SLAM2::Initializer::mvKeys2</a></div><div class="ttdeci">vector&lt; cv::KeyPoint &gt; mvKeys2</div><div class="ttdoc">Puntos singulares del cuadro 2. </div><div class="ttdef"><b>Definition:</b> Initializer.h:257</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a40d41840e2bdb7199ab024871d028c2c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a40d41840e2bdb7199ab024871d028c2c">ORB_SLAM2::Initializer::Initialize</a></div><div class="ttdeci">bool Initialize(const Frame &amp;CurrentFrame, const vector&lt; int &gt; &amp;vMatches12, cv::Mat &amp;R21, cv::Mat &amp;t21, vector&lt; cv::Point3f &gt; &amp;vP3D, vector&lt; bool &gt; &amp;vbTriangulated)</div><div class="ttdoc">Computa en paralelo una matriz fundamental y una homografía. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:44</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html">ORB_SLAM2::Initializer</a></div><div class="ttdoc">Inicializador de mapa en modo monocular. </div><div class="ttdef"><b>Definition:</b> Initializer.h:36</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a78e9e1a14ee76f6cab0f734fa95793af"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a78e9e1a14ee76f6cab0f734fa95793af">ORB_SLAM2::Initializer::DecomposeE</a></div><div class="ttdeci">void DecomposeE(const cv::Mat &amp;E, cv::Mat &amp;R1, cv::Mat &amp;R2, cv::Mat &amp;t)</div><div class="ttdoc">Descompone la matriz esencial E en matrices de rotación y vector traslación. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:912</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a16d5aa375ed03336cc0dc981861b15da"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a16d5aa375ed03336cc0dc981861b15da">ORB_SLAM2::Initializer::ComputeH21</a></div><div class="ttdeci">cv::Mat ComputeH21(const vector&lt; cv::Point2f &gt; &amp;vP1, const vector&lt; cv::Point2f &gt; &amp;vP2)</div><div class="ttdoc">Computa una homografía para una dada correspondencia de puntos normalizados en dos imágenes...</div><div class="ttdef"><b>Definition:</b> Initializer.cc:226</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a8d9647dedc212bd1fe05084ec7875a05"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a8d9647dedc212bd1fe05084ec7875a05">ORB_SLAM2::Initializer::mMaxIterations</a></div><div class="ttdeci">int mMaxIterations</div><div class="ttdoc">Cantidad máxima de iteraciones al aplicar RanSaC. </div><div class="ttdef"><b>Definition:</b> Initializer.h:276</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a3a90762e82702f06f6999672ebaa4cb8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a3a90762e82702f06f6999672ebaa4cb8">ORB_SLAM2::Initializer::mvbMatched1</a></div><div class="ttdeci">vector&lt; bool &gt; mvbMatched1</div><div class="ttdoc">Marcas de macheos. </div><div class="ttdef"><b>Definition:</b> Initializer.h:264</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a7af4e0e177bb75879dac174b758ce7d4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a7af4e0e177bb75879dac174b758ce7d4">ORB_SLAM2::Initializer::mSigma2</a></div><div class="ttdeci">float mSigma2</div><div class="ttdef"><b>Definition:</b> Initializer.h:272</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a387c406706472859415c0e7a3594ea04"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a387c406706472859415c0e7a3594ea04">ORB_SLAM2::Initializer::FindFundamental</a></div><div class="ttdeci">void FindFundamental(vector&lt; bool &gt; &amp;vbInliers, float &amp;score, cv::Mat &amp;F21)</div><div class="ttdoc">Computa la matriz fundamental entre los dos cuadros macheados, usando RANSAC. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:175</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_addc1c05d3b7a5ae35805f69b50f368ea"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#addc1c05d3b7a5ae35805f69b50f368ea">ORB_SLAM2::Initializer::ReconstructH</a></div><div class="ttdeci">bool ReconstructH(vector&lt; bool &gt; &amp;vbMatchesInliers, cv::Mat &amp;H21, cv::Mat &amp;K, cv::Mat &amp;R21, cv::Mat &amp;t21, vector&lt; cv::Point3f &gt; &amp;vP3D, vector&lt; bool &gt; &amp;vbTriangulated, float minParallax, int minTriangulated)</div><div class="ttdoc">Verifica las 8 hipótesis de rototraslación de Faugeras obtenidas de la homografía. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:572</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a72e79f6486468cde9abd87b873d840e7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a72e79f6486468cde9abd87b873d840e7">ORB_SLAM2::Initializer::CheckRT</a></div><div class="ttdeci">int CheckRT(const cv::Mat &amp;R, const cv::Mat &amp;t, const vector&lt; cv::KeyPoint &gt; &amp;vKeys1, const vector&lt; cv::KeyPoint &gt; &amp;vKeys2, const vector&lt; Match &gt; &amp;vMatches12, vector&lt; bool &gt; &amp;vbInliers, const cv::Mat &amp;K, vector&lt; cv::Point3f &gt; &amp;vP3D, float th2, vector&lt; bool &gt; &amp;vbGood, float &amp;parallax)</div><div class="ttdoc">Verifica la pose para confirmar hipótesis de H o F. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:801</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a3bdf78e0f16be44b5ab312aac5cac5af"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a3bdf78e0f16be44b5ab312aac5cac5af">ORB_SLAM2::Initializer::Triangulate</a></div><div class="ttdeci">void Triangulate(const cv::KeyPoint &amp;kp1, const cv::KeyPoint &amp;kp2, const cv::Mat &amp;P1, const cv::Mat &amp;P2, cv::Mat &amp;x3D)</div><div class="ttdoc">Triangula los puntos 3D partir de sus vistas desde ambas cámaras. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:734</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a557fe4d78becc1dda7a26c71d2254336"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a557fe4d78becc1dda7a26c71d2254336">ORB_SLAM2::Initializer::mK</a></div><div class="ttdeci">cv::Mat mK</div><div class="ttdoc">Matriz de calibración, intrínseca o de cámara. </div><div class="ttdef"><b>Definition:</b> Initializer.h:268</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_ac492345a970665cd8a1b1d8cf41d44af"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ac492345a970665cd8a1b1d8cf41d44af">ORB_SLAM2::Initializer::Initializer</a></div><div class="ttdeci">Initializer(const Frame &amp;ReferenceFrame, float sigma=1.0, int iterations=200)</div><div class="ttdoc">Constructor que toma ReferenceFrame como referencia para los sucesivos intentos de inicialización...</div><div class="ttdef"><b>Definition:</b> Initializer.cc:33</div></div>
<div class="ttc" id="_frame_8h_html"><div class="ttname"><a href="_frame_8h.html">Frame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_ac4ef04be7036e4629a8b3fa05c7327f5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ac4ef04be7036e4629a8b3fa05c7327f5">ORB_SLAM2::Initializer::mvMatches12</a></div><div class="ttdeci">vector&lt; Match &gt; mvMatches12</div><div class="ttdoc">Macheos. </div><div class="ttdef"><b>Definition:</b> Initializer.h:261</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a5b0465b2affed7453d30dd85672e9093"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a5b0465b2affed7453d30dd85672e9093">ORB_SLAM2::Initializer::FindHomography</a></div><div class="ttdeci">void FindHomography(vector&lt; bool &gt; &amp;vbMatchesInliers, float &amp;score, cv::Mat &amp;H21)</div><div class="ttdoc">Busca la homografía entre los dos cuadros macheados, usando RANSAC. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:124</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a1c8b74679a5cb1af16c07c8a00c8e8c0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a1c8b74679a5cb1af16c07c8a00c8e8c0">ORB_SLAM2::Initializer::CheckFundamental</a></div><div class="ttdeci">float CheckFundamental(const cv::Mat &amp;F21, vector&lt; bool &gt; &amp;vbMatchesInliers, float sigma)</div><div class="ttdoc">Evalúa la calidad de la matriz fundamental, haciendo una verificación epipolar. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:390</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a44ce7aa73741d900d2becc0d8f14c1af"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a44ce7aa73741d900d2becc0d8f14c1af">ORB_SLAM2::Initializer::Normalize</a></div><div class="ttdeci">void Normalize(const vector&lt; cv::KeyPoint &gt; &amp;vKeys, vector&lt; cv::Point2f &gt; &amp;vNormalizedPoints, cv::Mat &amp;T)</div><div class="ttdoc">Produce puntos con las coordenadas normalizadas de los puntos singulares. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:752</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_ad588868e84cb1b7e256928dd0d50baee"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ad588868e84cb1b7e256928dd0d50baee">ORB_SLAM2::Initializer::mSigma</a></div><div class="ttdeci">float mSigma</div><div class="ttdoc">Desvío estándar y variancia. </div><div class="ttdef"><b>Definition:</b> Initializer.h:272</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_ad0bf21297bc6271e7d014ce41d6ff7d4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#ad0bf21297bc6271e7d014ce41d6ff7d4">ORB_SLAM2::Initializer::Match</a></div><div class="ttdeci">pair&lt; int, int &gt; Match</div><div class="ttdef"><b>Definition:</b> Initializer.h:38</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a572144f600b28828d4772b0470206afe"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a572144f600b28828d4772b0470206afe">ORB_SLAM2::Initializer::mvSets</a></div><div class="ttdeci">vector&lt; vector&lt; size_t &gt; &gt; mvSets</div><div class="ttdoc">Conjuntos para Ransac. </div><div class="ttdef"><b>Definition:</b> Initializer.h:280</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html_a60796f88f1b3e981ad925a8b566f6315"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html#a60796f88f1b3e981ad925a8b566f6315">ORB_SLAM2::Initializer::ReconstructF</a></div><div class="ttdeci">bool ReconstructF(vector&lt; bool &gt; &amp;vbMatchesInliers, cv::Mat &amp;F21, cv::Mat &amp;K, cv::Mat &amp;R21, cv::Mat &amp;t21, vector&lt; cv::Point3f &gt; &amp;vP3D, vector&lt; bool &gt; &amp;vbTriangulated, float minParallax, int minTriangulated)</div><div class="ttdoc">Verifica las 4 hipótesis de rototraslación obtenidas de la matriz fundamental. </div><div class="ttdef"><b>Definition:</b> Initializer.cc:470</div></div>
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